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Restructuring Costs (Tables)
 12 Months Ended
Dec. 31, 2018
Restructuring and Related Activities [Abstract]  
Restructuring and Related Costs
The following table summarizes the activity to date related to these programs. The accrued restructuring liability balance as of December 31, 2018 and 2017, respectively, is included in other accrued expenses in the accompanying consolidated balance sheets (in thousands):
 
December 31,
 
2018
 
2017
 
2016
Balance at beginning of year
$
254

 
$
1,333

 
$
2,827

Restructuring charges
289

 
2,044

 
2,666

Cash payments
(384
)
 
(3,122
)
 
(4,152
)
Foreign currency translation
—

 
(1
)
 
(8
)
Balance at end of year
159

 
254

 
1,333